CN110832719A - Internal robotic manipulator for unmanned operation and maintenance in withdrawable circuit breakers and method of operation thereof - Google Patents

Internal robotic manipulator for unmanned operation and maintenance in withdrawable circuit breakers and method of operation thereof Download PDF

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Publication number
CN110832719A
CN110832719A CN201880042917.4A CN201880042917A CN110832719A CN 110832719 A CN110832719 A CN 110832719A CN 201880042917 A CN201880042917 A CN 201880042917A CN 110832719 A CN110832719 A CN 110832719A
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CN
China
Prior art keywords
switchgear
control device
maintenance
inner housing
order
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Granted
Application number
CN201880042917.4A
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Chinese (zh)
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CN110832719B (en
Inventor
T·科泽尔
T·施米特兴
M·斯特范卡
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ABB Schweiz AG
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ABB Schweiz AG
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
    • H02B11/00—Switchgear having carriage withdrawable for isolation
    • H02B11/12—Switchgear having carriage withdrawable for isolation with isolation by horizontal withdrawal
    • H02B11/127—Withdrawal mechanism
    • H02B11/133—Withdrawal mechanism with interlock
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
    • H02B3/00—Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
    • H02B11/00—Switchgear having carriage withdrawable for isolation
    • H02B11/02—Details

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Gas-Insulated Switchgears (AREA)
  • Safety Devices In Control Systems (AREA)

Abstract

The invention relates to an indoor switchgear or control device for unmanned operation and maintenance of low, medium or high voltage with an arrangement of switchgear in an inner housing, which is also provided with an outer housing, according to the preamble of claims 1 and 2. In order to exclude most of the components related to personal safety from the switchgear or control device design, while keeping the service continuity and personnel safety aspects of the switchgear or control device at the highest level, the invention resides in that the switchgear or control device is provided with a robotic system functioning mainly in an inner housing, in that at least the switchgear and other maintenance critical components are withdrawable, in that the switchgear or control device is provided with interlocks in order to prevent wrong operating sequences and to prevent access to potentially dangerous compartments, and in that metal is provided internally in the inner housing insulation in order to reach the required level of service continuity.

Description

Internal robotic manipulator for unmanned operation and maintenance in withdrawable circuit breakers and method of operation thereof
The present invention relates to an unmanned and maintenance indoor switchgear or control device and a method of operating the same, according to the preamble of claims 1 and 2.
One of the development emphasis in the field of medium-high voltage indoor switchgear or control devices has been driven over the past decades by the safety of operators and maintenance personnel. In current designs, indoor switching or control devices are partitioned into multiple compartments according to service continuity requirements to protect personnel working in one part of the system (compartment) from touching live parts in the other part of the system (compartment).
The housing of the switching device or control device is made robust to protect personnel from internal arc flashovers and internal arc explosions in case of a failure of the internal switching device or control device.
Object of the Invention
The object of the invention is to exclude most of the components relevant to personal safety from the switchgear or control device design, while keeping the service continuity and personnel safety aspects of the switchgear or control device at a maximum level.
Disclosure of Invention
The invention describes the idea of how to exclude most of the components related to personal safety from the switchgear or control device design, while maintaining the service continuity and personal safety aspects of the switchgear or control device at the highest level.
The switching or control device is thus provided with a robotic system that functions primarily in the inner housing, and at least the switching means and maintenance critical components are withdrawable, the switching or control device is provided with interlocks in order to prevent wrong operating sequences and to prevent access to potentially dangerous compartments, and metal is provided internally in the inner housing insulation in order to reach the required level of service continuity.
With reference to a method for operating a switching or control device provided with a robotic system that functions primarily in an inner housing, such that at least the switching and maintenance-critical components are withdrawable, and such that the switching or control device is provided with interlocks in order to successively generate a "permitted" sequence of actions in order to prevent a wrong operating sequence and to prevent access to potentially dangerous compartments, and such that metal is provided internally in the inner housing insulation in order to reach a desired level of service continuity.
The method for operating and the switching device or the control device can be used both for low and medium and high voltages. Most notable and obvious are the advantages in medium and high pressure.
In a further advantageous embodiment, the isolation region of the inner operating chamber follows the desired level of separation.
In a final advantageous embodiment, a suitable enclosure for the outer shell ensures the required internal arc classification.
An example of such a switchgear or control device or even a switchgear cabinet consisting of an arrangement of several switchgear or control devices is shown in fig. 2.
Current switchgear or control device designs include the following provisions to achieve the safety required by the operator:
switchgear and other maintenance critical parts are withdrawable,
interlocks to prevent incorrect operating sequences and to prevent access to potentially dangerous compartments,
metallic internal isolation to achieve the required level of service continuity,
required level of separation
A suitable enclosure to ensure the required internal arc classification.
An embodiment of the present invention is shown in the drawings and is in contrast to the prior art.
FIG. 1: Prior Art
FIG. 2: examples of the invention
The first assumption is that the components relating to personal safety are excluded from the switchgear or control device design to create a design such that personnel do not participate in the operation and maintenance process of the switchgear or control device. This means that all manual (emergency) operation and maintenance tasks are provided in other ways-preferably by a dedicated robotic system 21 embedded inside the switchgear or control device. Removing parts related to personal safety from the switchgear or control equipment helps to keep the requirements on the flexibility of the dedicated robot system low, which means that currently available robot systems, such as industrial robot arms on rail vehicles or unmanned ground vehicles with manipulators, should be able to provide manual operation and maintenance within a similar range as today's manually guarantees.
The outer arc-proof housing 23 is the only element required to ensure personnel safety, considering that when the circuit is energized, no operator enters the interior space of the switchgear or control equipment containing the main circuit 22.
The internal switchgear or control equipment space 22 need not be divided into compartments and the metal partition plates 1, 2 and 3 and all bushings 4 and 5 and seals 6 can be excluded from the system.
The switchgear may be fixed rather than withdrawable, because the embedded robot system may ensure maintenance of the switchgear even when the switchgear is fixed to the main circuit. Thus, breaker-isolated rose-tip (rosette-spout) contacts 8 and withdrawable mechanisms 7 that include interlocks may be excluded from the system.
Shutter (shutter) system 9 may also be eliminated. A three-position disconnector 24 should be included in each switchgear or control unit circuit to provide isolation from the main busbar and grounding of the switchgear or control unit circuit.
The cable connection parts of the main circuit should comprise current and voltage instrument transformers or sensors 25 and 26 and a tapered cable connection point 27 known from current generation of gas insulated switchgear to properly seal the cable entry.
As an alternative to the feeder circuit design described in the two previous sections, the circuit breaker may be withdrawable with the isolating contacts. The extractable mechanism is adjusted to be easily operated by the robot and its complexity is reduced to a minimum. The circuit breaker isolating contacts serve as disconnection points and a dedicated grounding switch is available on the cable side. This alternative design is useful in case the replacement of the entire circuit breaker is considered as one of the required switching device or control device operating actions.
The robot system 21 should comprise a movable base 28, which movable base 28 will move the robot system along an arrangement of switching devices or control device units, the robot manipulator 29 for performing different operation and maintenance tasks ending with a robot wrist 30. The robotic system tool should include various means for inspection, measurement, operation, monitoring, maintenance, etc.
The robot safety system should include a sensor for detecting the main circuit energization state to prevent the operator from approaching the energized circuit. The safe operating area of the robotic manipulator depends on the power-on state of the switching device or the control device. If the system is powered on, the robot arm maneuvering zone is limited to an area given by the safety clearance and creepage distance of the powered circuit.
The switchgear or control device interior space 22 may be filled with air or an alternative gas having insulating properties at a suitable pressure and concentration. The interior space is effectively isolated from the outside environment by means of an arc-proof housing 23, which arc-proof housing 23 helps to keep the switchgear or control device interior space free from the surrounding environment. If heat exchange with the surrounding environment is required, passive or active heat exchange means may be added, preventing direct air exchange with the external environment.
In order to treat pressurized hot gases generated during internal arc faults of switchgear or control equipment, pressure relief foil systems known from gas-insulated switchgear or pressure relief membrane systems known from gas-insulated switchgear may be applied. Active arc fault duration limiting means may be included to limit the extent of damage to equipment in the event of an internal arc fault event.

Claims (4)

1. An unmanned, maintenance-free indoor switchgear or control device for low, medium or high voltage, with an arrangement of switchgear in an inner housing, which is further provided with an outer housing,
it is characterized in that the preparation method is characterized in that,
the switching device or control device is provided with a robot system that mainly functions in the inner housing;
at least the switching device and other maintenance critical components are withdrawable; the switching or control device is provided with an interlock to prevent incorrect operating sequences and to prevent access to potentially dangerous compartments; and internally providing metal in the insulation of the inner housing in order to achieve a desired level of service continuity.
2. A method for operating an unmanned and maintenance indoor switchgear or control device for low, medium or high voltage, with an arrangement of switchgear in an inner housing, which is further provided with an outer housing,
it is characterized in that the preparation method is characterized in that,
the switching or control device is provided with a robotic system that functions primarily in the inner housing such that at least the switching device and other maintenance critical components are withdrawable; and that the switching device or control device is provided with interlocks in order to successively generate an "allowed" action sequence in order to prevent a wrong operation sequence and to prevent access to potentially dangerous compartments; and such that metal is provided internally in the insulation of the inner housing in order to achieve the required level of service continuity.
3. The method of claim 2, wherein the first and second light sources are selected from the group consisting of,
it is characterized in that the preparation method is characterized in that,
the mold isolation of the inner operating chamber follows the desired level of separation.
4. The method according to claim 2 or 3,
it is characterized in that the preparation method is characterized in that,
a suitable enclosure for the outer shell ensures the required internal arc classification.
CN201880042917.4A 2017-06-28 2018-06-25 Indoor switchgear device of unmanned operation and maintenance Active CN110832719B (en)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
EP17178408.5 2017-06-28
EP17178408 2017-06-28
EP17209684.4 2017-12-21
EP17209684.4A EP3422503A1 (en) 2017-06-28 2017-12-21 An internal robot-manipulator for unmanned operation and maintenance in withdrawable circuit breakers, and a method of operating the robot-manipulator
PCT/EP2018/066997 WO2019002227A1 (en) 2017-06-28 2018-06-25 An internal robot-manipulator for unmanned operation and maintenance in withdrawable circuit breakers, and a method of operating the robot-manipulator

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Publication Number Publication Date
CN110832719A true CN110832719A (en) 2020-02-21
CN110832719B CN110832719B (en) 2021-11-26

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US (1) US11146045B2 (en)
EP (1) EP3422503A1 (en)
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WO (1) WO2019002227A1 (en)

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CN110832720B (en) 2017-06-28 2022-06-24 Abb瑞士股份有限公司 Substation comprising unmanned and maintained switchgear or control device
EP3422501B1 (en) 2017-06-28 2021-04-28 ABB Schweiz AG Robot for unmanned operation and maintenance in an indoor medium or high voltage switchgear station
EP3422502B1 (en) * 2017-06-28 2021-04-07 ABB Schweiz AG Substation for medium or high voltage, containing switchgear or controlgear with unmanned operation and maintenance
EP3671988A1 (en) 2018-12-19 2020-06-24 ABB Schweiz AG Hermetically sealed switchgear installation with single compartment for circuit breaker, three position disconnector and main bus bar.
EP3671989A1 (en) 2018-12-19 2020-06-24 ABB Schweiz AG Three phase switchgear using single phase equipment in single casing
EP3671991A1 (en) 2018-12-19 2020-06-24 ABB Schweiz AG Three phase switchgear or control gear
EP3671990B1 (en) 2018-12-19 2021-11-24 ABB Schweiz AG Three phase switchgear or control gear
ES2887257T3 (en) 2018-12-19 2021-12-22 Abb Schweiz Ag Switching device or control device

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CN114825142B (en) * 2022-05-26 2024-03-12 国网河北省电力有限公司石家庄供电分公司 Handcart type breaker replacement method

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WO2019002227A1 (en) 2019-01-03
US11146045B2 (en) 2021-10-12
US20200136358A1 (en) 2020-04-30
EP3422503A1 (en) 2019-01-02
CN110832719B (en) 2021-11-26

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